#!/usr/bin/wish
#
# Copyright by Oliver Dippel <oliver@multixmedia.org>
# 
# This program is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# any later version. see <http://www.gnu.org/licenses/>
# 

set VERSION 49

#####################################################################################
# Big hexdata
#####################################################################################

set HEXDATA "0xc 0x94 0x1d 0x3 0xc 0x94 0x45 0x3 0xc 0x94 0x45 0x3 0xc 0x94 0x6f 0x6 0xc 0x94 0x9c 0x6 0xc 0x94 0xc9 0x6 0xc 0x94 0x45 0x3 0xc 0x94 0x45 0x3 0xc 0x94 0x45 0x3 0xc 0x94 0x45 0x3 0xc 0x94 0x45 0x3 0xc 0x94 0x45 0x3 0xc 0x94 0x45 0x3 0xc 0x94 0x7a 0xb 0xc 0x94 0x45 0x3 0xc 0x94 0x45 0x3 0xc 0x94 0x1c 0x23 0xc 0x94 0x45 0x3 0xc 0x94 0xc0 0x24 0xc 0x94 0x7 0x25 0xc 0x94 0x45 0x3 0xc 0x94 0x45 0x3 0xc 0x94 0x45 0x3 0xc 0x94 0x45 0x3 0xc 0x94 0x6d 0x21 0xc 0x94 0x45 0x3 0x5 0xa8 0x4c 0xcd 0xb2 0xd4 0x4e 0xb9 0x38 0x36 0xa9 0x2 0xc 0x50 0xb9 0x91 0x86 0x88 0x8 0x3c 0xa6 0xaa 0xaa 0x2a 0xbe 0x0 0x0 0x0 0x80 0x3f 0x47 0x4f 0x21 0x20 0x54 0x79 0x70 0x65 0x20 0x48 0x45 0x20 0x66 0x6f 0x72 0x20 0x68 0x65 0x6c 0x70 0x2c 0x20 0x61 0x63 0x74 0x69 0x76 0x61 0x74 0x65 0x20 0x4e 0x4c 0x20 0x69 0x6e 0x20 0x41 0x72 0x64 0x75 0x69 0x6e 0x6f 0x20 0x54 0x65 0x72 0x6d 0x69 0x6e 0x61 0x6c 0x21 0x0 0x47 0x79 0x72 0x6f 0x20 0x63 0x61 0x6c 0x69 0x62 0x72 0x61 0x74 0x69 0x6f 0x6e 0x3a 0x20 0x64 0x6f 0x6e 0x65 0x0 0x4d 0x50 0x55 0x36 0x30 0x35 0x30 0x20 0x66 0x61 0x6c 0x69 0x65 0x64 0x0 0x4d 0x50 0x55 0x36 0x30 0x35 0x30 0x20 0x6f 0x6b 0x20 0x28 0x4c 0x4f 0x57 0x29 0x0 0x4d 0x50 0x55 0x36 0x30 0x35 0x30 0x20 0x6f 0x6b 0x20 0x28 0x48 0x49 0x47 0x48 0x29 0x0 0x57 0x68 0x61 0x74 0x3f 0x20 0x74 0x79 0x70 0x65 0x20 0x69 0x6e 0x20 0x48 0x45 0x20 0x66 0x6f 0x72 0x20 0x48 0x65 0x6c 0x70 0x20 0x2e 0x2e 0x2e 0x0 0x48 0x45 0x20 0x20 0x20 0x20 0x28 0x54 0x68 0x69 0x73 0x20 0x6f 0x75 0x74 0x70 0x75 0x74 0x29 0x0 0x4f 0x44 0x4d 0x20 0x64 0x6d 0x70 0x4f 0x75 0x74 0x70 0x75 0x74 0x20 0x20 0x28 0x54 0x6f 0x67 0x67 0x6c 0x65 0x20 0x41 0x6e 0x67 0x6c 0x65 0x20 0x6f 0x75 0x74 0x70 0x75 0x74 0x20 0x69 0x6e 0x20 0x44 0x4d 0x50 0x20 0x6d 0x6f 0x64 0x65 0x3a 0x20 0x31 0x20 0x3d 0x20 0x74 0x72 0x75 0x65 0x2c 0x20 0x30 0x20 0x3d 0x20 0x66 0x61 0x6c 0x73 0x65 0x29 0x0 0x4f 0x41 0x43 0x20 0x61 0x63 0x63 0x4f 0x75 0x74 0x70 0x75 0x74 0x20 0x28 0x54 0x6f 0x67 0x67 0x6c 0x65 0x20 0x41 0x6e 0x67 0x6c 0x65 0x20 0x6f 0x75 0x74 0x70 0x75 0x74 0x20 0x69 0x6e 0x20 0x41 0x43 0x43 0x20 0x6d 0x6f 0x64 0x65 0x3a 0x20 0x31 0x20 0x3d 0x20 0x74 0x72 0x75 0x65 0x2c 0x20 0x30 0x20 0x3d 0x20 0x66 0x61 0x6c 0x73 0x65 0x29 0x0 0x54 0x41 0x43 0x20 0x20 0x20 0x28 0x54 0x72 0x61 0x6e 0x73 0x6d 0x69 0x74 0x20 0x41 0x43 0x43 0x20 0x73 0x74 0x61 0x74 0x75 0x73 0x29 0x0 0x55 0x41 0x43 0x20 0x75 0x73 0x65 0x41 0x43 0x43 0x20 0x28 0x31 0x20 0x3d 0x20 0x74 0x72 0x75 0x65 0x2c 0x20 0x41 0x43 0x43 0x3b 0x20 0x30 0x20 0x3d 0x20 0x66 0x61 0x6c 0x73 0x65 0x2c 0x20 0x44 0x4d 0x50 0x29 0x0 0x54 0x43 0x41 0x20 0x20 0x20 0x28 0x54 0x72 0x61 0x6e 0x73 0x6d 0x69 0x74 0x20 0x52 0x43 0x20 0x63 0x6f 0x6e 0x74 0x72 0x6f 0x6c 0x20 0x61 0x62 0x73 0x6f 0x6c 0x75 0x74 0x65 0x20 0x6f 0x72 0x20 0x6e 0x6f 0x74 0x29 0x0 0x53 0x43 0x41 0x20 0x72 0x63 0x41 0x62 0x73 0x6f 0x6c 0x75 0x74 0x65 0x20 0x28 0x31 0x20 0x3d 0x20 0x74 0x72 0x75 0x65 0x2c 0x20 0x52 0x43 0x20 0x63 0x6f 0x6e 0x74 0x72 0x6f 0x6c 0x20 0x69 0x73 0x20 0x61 0x62 0x73 0x6f 0x6c 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0xa2 0xe8 0xb1 0xe0 0x1 0xc0 0x1d 0x92 0xad 0x32 0xb1 0x7 0xe1 0xf7 0x16 0xe0 0xca 0xe3 0xd6 0xe0 0x4 0xc0 0x22 0x97 0xfe 0x1 0xe 0x94 0x84 0x2c 0xc4 0x33 0xd1 0x7 0xc9 0xf7 0xe 0x94 0xd 0x29 0xc 0x94 0xca 0x2c 0xc 0x94 0x0 0x0 0xcf 0x93 0xdf 0x93 0xbc 0x1 0x82 0x30 0x91 0x5 0x10 0xf4 0x62 0xe0 0x70 0xe0 0xa0 0x91 0x2b 0x6 0xb0 0x91 0x2c 0x6 0xed 0x1 0xe0 0xe0 0xf0 0xe0 0x40 0xe0 0x50 0xe0 0x21 0xc0 0x88 0x81 0x99 0x81 0x86 0x17 0x97 0x7 0x69 0xf4 0x8a 0x81 0x9b 0x81 0x30 0x97 0x19 0xf0 0x93 0x83 0x82 0x83 0x4 0xc0 0x90 0x93 0x2c 0x6 0x80 0x93 0x2b 0x6 0xfe 0x1 0x34 0xc0 0x68 0x17 0x79 0x7 0x38 0xf4 0x41 0x15 0x51 0x5 0x19 0xf0 0x84 0x17 0x95 0x7 0x8 0xf4 0xac 0x1 0xfe 0x1 0x8a 0x81 0x9b 0x81 0x9c 0x1 0xe9 0x1 0x20 0x97 0xe9 0xf6 0x41 0x15 0x51 0x5 0xa9 0xf1 0xca 0x1 0x86 0x1b 0x97 0xb 0x4 0x97 0x8 0xf4 0xba 0x1 0xe0 0xe0 0xf0 0xe0 0x2a 0xc0 0x8d 0x91 0x9c 0x91 0x11 0x97 0x84 0x17 0x95 0x7 0xf9 0xf4 0x64 0x17 0x75 0x7 0x81 0xf4 0x12 0x96 0x8d 0x91 0x9c 0x91 0x13 0x97 0x30 0x97 0x19 0xf0 0x93 0x83 0x82 0x83 0x4 0xc0 0x90 0x93 0x2c 0x6 0x80 0x93 0x2b 0x6 0xfd 0x1 0x32 0x96 0x4c 0xc0 0xca 0x1 0x86 0x1b 0x97 0xb 0xfd 0x1 0xe8 0xf 0xf9 0x1f 0x61 0x93 0x71 0x93 0x2 0x97 0x8d 0x93 0x9c 0x93 0x40 0xc0 0xfd 0x1 0x82 0x81 0x93 0x81 0x9c 0x1 0xd9 0x1 0x10 0x97 0xa1 0xf6 0x80 0x91 0x29 0x6 0x90 0x91 0x2a 0x6 0x89 0x2b 0x41 0xf4 0x80 0x91 0x58 0x1 0x90 0x91 0x59 0x1 0x90 0x93 0x2a 0x6 0x80 0x93 0x29 0x6 0x40 0x91 0x5a 0x1 0x50 0x91 0x5b 0x1 0x41 0x15 0x51 0x5 0x41 0xf4 0x4d 0xb7 0x5e 0xb7 0x80 0x91 0x56 0x1 0x90 0x91 0x57 0x1 0x48 0x1b 0x59 0xb 0x20 0x91 0x29 0x6 0x30 0x91 0x2a 0x6 0xca 0x1 0x82 0x1b 0x93 0xb 0x86 0x17 0x97 0x7 0x80 0xf0 0xab 0x1 0x4e 0x5f 0x5f 0x4f 0x84 0x17 0x95 0x7 0x50 0xf0 0x42 0xf 0x53 0x1f 0x50 0x93 0x2a 0x6 0x40 0x93 0x29 0x6 0xf9 0x1 0x61 0x93 0x71 0x93 0x2 0xc0 0xe0 0xe0 0xf0 0xe0 0xcf 0x1 0xdf 0x91 0xcf 0x91 0x8 0x95 0xcf 0x93 0xdf 0x93 0x0 0x97 0x9 0xf4 0x50 0xc0 0xec 0x1 0x22 0x97 0x1b 0x82 0x1a 0x82 0xa0 0x91 0x2b 0x6 0xb0 0x91 0x2c 0x6 0x10 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QshRgQEQQAArks5q4IEEGLD+0IUWLFyBhJjQS2GHFVKowYgllHhhAxWY2TLR/Z4JRYpSspjCiyrE
8IKGAyRgSwCuHAhgABBGQmEBF1hYwQUUNBABgxJgoMBCHdCDwY9MLAllE3YUxTU/eaZZQg48zLjC
Ci+08GIHg1ZbK4QICiJSJZUgIOEE92zQgbwedGjBAkIqqWScXL81Dh5E6OjCCzdq9MILMVbg6iPP
3IIAhBXwBEHeeWfIYS8ZdMihCys0OCKSULIEt2DiwiDjiyqwSDfdK1iIYIGDWiNBJiPnxeG9HVpw
QQcdYOBgiSFwUCEGYgxGmTh2pOhlCjPIoNSLIrw4YQEF6s3zQhBKgOmGC3f+uLaIDf445JMjiLgm
ZaUXE8cZZ7B4ow11JZUBhBBWOGkF8bCuDT0fhCCChyopocSZYZZGWzFuQplEDDxi9oIIO7GOKSYa
dsBBhh9uEGIHK54wwpBLnCE4bcONmgaUN8SA2wsf5j3B3hVu2EEGF3JIQoYhbsACCWrQOTz0o3wJ
gxEynOCCC+SquHODF0Zg4YYhgOjgD1A8gAIKZETnvSh44KkD2CHIaOILKB6PVjwehKCCBkEqiUSR
bnqn3qgv4Ijiii/irovnk3ZowgQjADFkmurPL+qVX5ZYwose/tQgBRiAIGKHGJD4pHD09/+pnF5e
AVAPyGMBJjhCCTGwQiNJ2sE/BgalGsBYwhf8NIJAgOITSGCEOhq4QaD4Yg1R2NsLFDGJQCyQgyfs
Ryq+QIMw1EARJkQhCpHhBVSsI4Y3xGEOdbhDHholIAA7
}

#####################################################################################
# Tooltip
#####################################################################################

proc setTooltip {widget text} {
	if { $text != "" } {

		bind $widget <Any-Enter>    [list .helptext configure -text "$text"]

#		bind $widget <Any-Enter>    [list after 500 [list showTooltip %W $text]]
#		bind $widget <Any-Leave>    [list after 500 [list destroy %W.tooltip]]
#		bind $widget <Any-KeyPress> [list after 500 [list destroy %W.tooltip]]
#		bind $widget <Any-Button>   [list after 500 [list destroy %W.tooltip]]
	}
}

proc showTooltip {widget text} {
	global tcl_platform
	if { [string match $widget* [winfo containing  [winfo pointerx .] [winfo pointery .]] ] == 0  } {
		return
	}
	catch { destroy $widget.tooltip }
	set scrh [winfo screenheight $widget]    ; # 1) flashing window fix
	set scrw [winfo screenwidth $widget]     ; # 1) flashing window fix
	set tooltip [toplevel $widget.tooltip -bd 1 -bg black]
	wm geometry $tooltip +$scrh+$scrw        ; # 1) flashing window fix
	wm overrideredirect $tooltip 1
	if {$tcl_platform(platform) == {windows}} { ; # 3) wm attributes...
		wm attributes $tooltip -topmost 1   ; # 3) assumes...
	}                                           ; # 3) Windows
	pack [label $tooltip.label -bg lightyellow -fg black -text $text -justify left]
	set width [winfo reqwidth $tooltip.label]
	set height [winfo reqheight $tooltip.label]
	set pointer_below_midline [expr [winfo pointery .] > [expr [winfo screenheight .] / 2.0]]                ; # b.) Is the pointer in the bottom half of the screen?
	set positionX [expr [winfo pointerx .] - round($width / 2.0)]    ; # c.) Tooltip is centred horizontally on pointer.
	set positionY [expr [winfo pointery .] + 35 * ($pointer_below_midline * -2 + 1) - round($height / 2.0)]  ; # b.) Tooltip is displayed above or below depending on pointer Y position.
	if  {[expr $positionX + $width] > [winfo screenwidth .]} {
		set positionX [expr [winfo screenwidth .] - $width]
	} elseif {$positionX < 0} {
		set positionX 0
	}
	wm geometry $tooltip [join  "$width x $height + $positionX + $positionY" {}]
	raise $tooltip
	bind $widget.tooltip <Any-Enter> {destroy %W}
	bind $widget.tooltip <Any-Leave> {destroy %W}
}

#####################################################################################
# Menu
#####################################################################################

menu .menu -tearoff 0
menu .menu.file -tearoff 0
.menu add cascade -label "File" -menu .menu.file -underline 0

	.menu.file add command -label "Connect" -command {
		connect_serial
	}
	.menu.file add command -label "Close" -command {
		close_serial
	}
	.menu.file add command -label "Open file..." -command {
		load_values_from_file
	}
	.menu.file add command -label "Save file..." -command {
		save_values2file
	}
	.menu.file add separator
	.menu.file add command -label "Exit" -command {
		exit 0
	}

menu .menu.options -tearoff 0
.menu add cascade -label "Options" -menu .menu.options -underline 0
	.menu.options add command -label "set Defaults" -command {
		set_defaults
	}
	.menu.options add command -label "Load from Board" -command {
		send_par
	}
	.menu.options add command -label "Save to Board" -command {
		save_values
	}
	.menu.options add command -label "Load from Flash" -command {
		load_from_flash
	}
	.menu.options add command -label "Save to Flash" -command {
		save_to_flash
	}
	.menu.options add command -label "Gyro-Cal" -command {
		gyro_cal
	}

if {$HEXDATA != ""} {
	menu .menu.firmware -tearoff 0
	.menu add cascade -label "Firmware" -menu .menu.firmware -underline 0
		.menu.firmware add command -label "Upload" -command {
			close_serial
			set device [.device.spin get]
			set ArduinoSerial [ArduinoSerial_Init [.device.spin get] 57600]
			ArduinoReset
			ArduinoSerial_SendCMD $defs(STK_GET_SIGN_ON)
			ArduinoSendData "0x0000" $HEXDATA
			ArduinoReset
			after 500
			connect_serial
		}
}


menu .menu.help -tearoff 0
	.menu add cascade -label "Help" -menu .menu.help -underline 0
	.menu.help add command -label "Tuning" -command {
		show_help_tuning
	}
	.menu.help add separator
	.menu.help add command -label "Homepage" -command {
		launchBrowser "http://brushlessgimbal.de/"
	}
	.menu.help add command -label "Documentation" -command {
		launchBrowser "http://brushlessgimbal.de/brugi-v1/software/"
	}
	.menu.help add separator
	.menu.help add command -label "About..." -command {
		show_help_about
	}

. configure -menu .menu

#####################################################################################
# serialports
#####################################################################################

if {[string match "*Linux*" $tcl_platform(os)]} {
	set comports ""
	set device ""
	catch {
		set comports [glob /dev/ttyUSB*]
		set device "[lindex $comports end]"
	}
} elseif {[string match "*Windows*" $tcl_platform(os)]} {
	set comports {"com1:" "com2:" "com3:" "com4:" "com5:" "com6:" "com7:" "com8:" "com9:" "com10:" "com11:" "com12:" "com13:" "com14:" "com15:"}
	catch {
		set serial_base "HKEY_LOCAL_MACHINE\\HARDWARE\\DEVICEMAP\\SERIALCOMM"
		set values [registry values $serial_base]
		set res {}
#		foreach valueName $values {
#			set PortName "[registry get $serial_base $valueName]"
#			lappend res "$PortName"
#		}
		foreach valueName $values {
			set PortName "//./[registry get $serial_base $valueName]"
			lappend res "$PortName"
		}
		set comports $res
	}
	set device "[lindex $comports end]"
} elseif {[string match "*Darwin*" $tcl_platform(os)] || [string match "*MacOS*" $tcl_platform(os)]} {
	set comports ""
	set device ""
	catch {
		set comports [glob /dev/cu.usbserial-*]
		set device "[lindex $comports end]"
	}
}

#####################################################################################
# Global variables
#####################################################################################

set Serial 0
set LastValX 0
set LastValY 0
set chart 0
set params "gyroPitchKp gyroPitchKi gyroPitchKd gyroRollKp gyroRollKi gyroRollKd accTimeConstant mpuLPF angleOffsetPitch angleOffsetRoll dirMotorPitch dirMotorRoll motorNumberPitch motorNumberRoll maxPWMmotorPitch maxPWMmotorRoll minRCPitch maxRCPitch minRCRoll maxRCRoll rcGain rcLPF rcModePPM rcChannelPitch rcChannelRoll rcMid rcAbsolute accOutput enableGyro enableACC axisReverseZ axisSwapXY"

foreach var $params {
	if {$var == "vers"} {
	} elseif {! [string match "*,*" $var]} {
		set par($var) 0
		set par($var,scale) 1
		set par($var,offset) 0
	}
}


set par(gyroPitchKp,scale) 1000.0
set par(gyroPitchKi,scale) 1000.0
set par(gyroPitchKd,scale) 1000.0
set par(gyroRollKp,scale) 1000.0
set par(gyroRollKi,scale) 1000.0
set par(gyroRollKd,scale) 1000.0
set par(angleOffsetPitch,scale) 100.0
set par(angleOffsetRoll,scale) 100.0
set par(rcLPF,scale) 10.0
set par(maxPWMmotorPitch,scale) 2.5
set par(maxPWMmotorRoll,scale) 2.5
set par(rcChannelPitch,offset) 1
set par(rcChannelRoll,offset) 1
set par(motorNumberPitch,offset) 1
set par(motorNumberRoll,offset) 1



set CHART_SCALE 0.5
set buffer ""
set count 0
set chart_count 0

#####################################################################################
# Serial-Functions
#####################################################################################

proc Serial_Init {ComPort ComRate} {
	global Serial
	catch {close $Serial}
	catch {fileevent $Serial readable ""}
	set iChannel 0
	if {[catch {
		set iChannel [open $ComPort w+]
		fconfigure $iChannel -mode $ComRate,n,8,1 -ttycontrol {RTS 1 DTR 0} -blocking FALSE
		fileevent $iChannel readable [list rd_chid $iChannel]
		.bottom.version configure -text "Serial-Ok: $ComPort @ $ComRate"
		.bottom.info configure -text "Serial-Ok: $ComPort @ $ComRate"
		.device.connect configure -text "Reconnect"
	}]} {
		.bottom.version configure -text "Serial-Error: $ComPort @ $ComRate"
		.bottom.version configure -background red
		.bottom.info configure -text "Serial-Error: $ComPort @ $ComRate"
		.device.connect configure -text "Connect"
		return 0
	}
	return $iChannel
}

proc close_serial {} {
	global Serial
	catch {close $Serial}
	.device.connect configure -text "Connect"
}

#####################################################################################
# CLI-Functions
#####################################################################################

proc connect_serial {} {
	global Serial
	global count
	global device
	global buffer
#	.bottom.info configure -background yellow
	set device [.device.spin get]
	set Serial [Serial_Init $device 115200]
	set count 0
	if {$Serial == 0} {
		.bottom.info configure -background red
		.bottom.info configure -text "not connected"
		return
	} else {
		.bottom.info configure -background green
		.bottom.info configure -text "connected"
	}
	after 6000 send_par
}

proc draw_chart {} {
	global Serial
	global chart
	if {$Serial == 0} {
		.bottom.info configure -background red
		.bottom.info configure -text "not connected"
		return
	}
	if {$chart == 1} {
		set chart 0
		.bottom.info configure -text "SEND: oac 0"
        	puts -nonewline $Serial "oac 0\n"
		flush $Serial
		.note.general.chart.fr1.button configure -text "Start"
	} else {
		set chart 1
		.bottom.info configure -text "SEND: oac 1"
        	puts -nonewline $Serial "oac 1\n"
		flush $Serial
		.note.general.chart.fr1.button configure -text "Stop"
	}
}

proc send_parvar {n1 n2 op} {
	global Serial
	global par

	## Value-Check ##
	if {$n2 == "minRCRoll"} {
		if {$par(minRCRoll) > $par(maxRCRoll)} {
			set par(maxRCRoll) $par(minRCRoll)
		}
	} elseif {$n2 == "maxRCRoll"} {
		if {$par(maxRCRoll) < $par(minRCRoll)} {
			set par(minRCRoll) $par(maxRCRoll)
		}
	}
	if {$n2 == "minRCPitch"} {
		if {$par(minRCPitch) > $par(maxRCPitch)} {
			set par(maxRCPitch) $par(minRCPitch)
		}
	} elseif {$n2 == "maxRCPitch"} {
		if {$par(maxRCPitch) < $par(minRCPitch)} {
			set par(minRCPitch) $par(maxRCPitch)
		}
	}

	if {$Serial == 0} {
		.bottom.info configure -background red
		.bottom.info configure -text "not connected"
		return
	}
	if {$n2 == "vers"} {
	} elseif {$n2 == "dirMotorPitch" || $n2 == "dirMotorRoll"} {
		if {$par($n2) == 1} {
			.bottom.info configure -text "SEND: par $n2 -1"
		        puts -nonewline $Serial "par $n2 -1\n"
		} else {
			.bottom.info configure -text "SEND: par $n2 1"
		        puts -nonewline $Serial "par $n2 1\n"
		}
	} else {
		.bottom.info configure -text "SEND: par $n2 [expr $par($n2) * $par($n2,scale) - $par($n2,offset)]"
	        puts -nonewline $Serial "par $n2 [expr $par($n2) * $par($n2,scale) - $par($n2,offset)]\n"
	}
	flush $Serial
	after 20
}

proc send_par {} {
	global Serial
	global count
	global device
	global buffer
	set count 0
	set buffer ""
	if {$Serial == 0} {
		.bottom.info configure -background red
		.bottom.info configure -text "not connected"
		return
	}
	.bottom.info configure -text "PAR: reading values..."

        puts -nonewline $Serial "par\n"
	flush $Serial
}

proc save_values {} {
	global Serial
	global count
	global device
	global par
	.bottom.info configure -text "saving values"
	.bottom.info configure -background yellow
	update
	if {$Serial == 0} {
		.bottom.info configure -background red
		.bottom.info configure -text "not connected"
		return
	}
	foreach var [array names par] {
		if {$var == "vers"} {
		} elseif {! [string match "*,*" $var]} {
			send_parvar "par" $var "w"
			after 20
		}
	}
	.bottom.info configure -text "saving values done"
	.bottom.info configure -background green
}

proc load_values_from_file {} {
	global Serial
	set types {
		{"Text files"		{.txt}	}
		{"Text files"		{}		TEXT}
		{"All files"		*}
	}
	global selected_type
	if {![info exists selected_type]} {
		set selected_type "Tcl Scripts"
	}
	set file [tk_getOpenFile -filetypes $types -parent . -typevariable selected_type]
	if {$file != ""} {
		set fp [open $file r]
		if {$fp > 0} {
			set file_data [read $fp]
			close $fp
			foreach line "[split $file_data "\n"]" {
				if {$line != ""} {
				        puts $Serial "$line"
					flush $Serial
					after 20
				}
			}
			.bottom.info configure -text "load: done"
			update
			connect_serial
		} else {
			.bottom.info configure -text "load: error, reading file: $file"
			update
		}
	}
	after 200 send_par
}

proc save_values2file {} {
	global Serial
	global device
	global par
	set types {
		{"Text files"		{.txt}	}
		{"Text files"		{}		TEXT}
		{"All files"		*}
	}
	set file [tk_getSaveFile -filetypes $types -parent . -initialfile blg-gimbal -defaultextension .txt]
	if {$file != ""} {
		set fp [open $file w]
		foreach var [array names par] {
			if {$var == "vers"} {
			} elseif {! [string match "*,*" $var]} {
				if {$var == "dirMotorPitch" || $var == "dirMotorRoll"} {
					if {$par($var) == 1} {
					        puts -nonewline $fp "par $var -1\n"
					} else {
					        puts -nonewline $fp "par $var 1\n"
					}
				} else {
				        puts -nonewline $fp "par $var [expr $par($var) * $par($var,scale) - $par($var,offset)]\n"
				}
			}
		}
		close $fp
	}
}

proc gyro_cal {} {
	global Serial
	global count
	global device
	set count 0
	if {$Serial == 0} {
		.bottom.info configure -background red
		.bottom.info configure -text "not connected"
		return
	}
	.bottom.info configure -background red
	.bottom.info configure -text "gyro recalibration"
	update
        puts -nonewline $Serial "GC\n"
	flush $Serial
}

proc save_to_flash {} {
	global Serial
	global count
	global device
	set count 0
	if {$Serial == 0} {
		.bottom.info configure -background red
		.bottom.info configure -text "not connected"
		return
	}
        puts -nonewline $Serial "WE\n"
	flush $Serial
}

proc load_from_flash {} {
	global Serial
	global count
	global device
	set count 0
	.bottom.info configure -text "loading from flash"
	update
	if {$Serial == 0} {
		.bottom.info configure -background red
		.bottom.info configure -text "not connected"
		return
	}
        puts -nonewline $Serial "RE\n"
	flush $Serial
	after 200 send_par
}

proc set_defaults {} {
	global Serial
	global count
	global device
	set count 0
	.bottom.info configure -text "setting defaults"
	update
	if {$Serial == 0} {
		.bottom.info configure -background red
		.bottom.info configure -text "not connected"
		return
	}
        puts -nonewline $Serial "SD\n"
	flush $Serial
	after 200 send_par
}

#####################################################################################
# Serial-Calback
#####################################################################################

proc rd_chid {chid} {
	global buffer
	global count
	global chart_count
	global VERSION
	global par
	if {$chid == 0} {
		return
	}
#	catch {
		set ch [read $chid 1]
		if {$ch == "\r"} {
		} elseif {$ch == "\n"} {
			if {1 == 1} {
				.bottom.info configure -text "INFO: $buffer"
#				update
				set var [lindex $buffer 0]
				set val [lindex $buffer 1]

				if {$var == "vers"} {
					set par(vers) "$val"
					.bottom.version configure -text "Firmware-Version: $par(vers)"
					.bottom.version configure -background lightgray
				} elseif {$var == "dirMotorPitch" || $var == "dirMotorRoll"} {
					if {$val == -1} {
						set par($var) 1
					} else {
						set par($var) 0
					}

				} elseif {[info exists par($var,scale)]} {
					set par($var) [expr ($val + $par($var,offset)) / $par($var,scale)]
				} elseif {[string match "* ACC *" $buffer]} {
					set chart 1
					.bottom.info configure -text "OAC: $buffer"
					global LastValX
					global LastValY
					global CHART_SCALE
					set ValX [expr [lindex $buffer 0] / 1000.0]
					set TEST [lindex $buffer 1]
					set ValY [expr [lindex $buffer 2] / 1000.0]
					if {($TEST == "ACC" || $TEST == "DMP") && [string is double -strict $ValX] && [string is double -strict $ValY]} {
						incr chart_count 1
						if {$chart_count >= 450} {
							set chart_count 0
						}
						.note.general.chart.chart1 delete "line_$chart_count"
						.note.general.chart.chart1 create line $chart_count [expr 100 - ($LastValX / 2 * $CHART_SCALE + 50)] [expr $chart_count + 1] [expr 100 - ($ValX * $CHART_SCALE / 2 + 50)] -fill orange -tags "line_$chart_count"
						.note.general.chart.chart1 create line $chart_count [expr 100 - ($LastValY / 2 * $CHART_SCALE + 50)] [expr $chart_count + 1] [expr 100 - ($ValY * $CHART_SCALE / 2 + 50)] -fill green -tags "line_$chart_count"
						.note.general.chart.chart1 delete "pos"
						.note.general.chart.chart1 create line [expr $chart_count + 1] 0 [expr $chart_count + 1] 100 -fill yellow -tags "pos"
						.note.general.chart.chart1 create text 5 10 -text "Pitch: $ValX" -anchor w -fill orange -tags "pos"
						.note.general.chart.chart1 create text 5 25 -text "Roll:  $ValY" -anchor w -fill green -tags "pos"
						.note.general.chart.chart1 create text 5 90 -text "Scale:  $CHART_SCALE" -anchor w -fill green -tags "pos"
						set LastValX $ValX
						set LastValY $ValY
					}

				} elseif {[string match "*recalibration: done*" $buffer]} {

					#tk_messageBox -icon info -message "Gyro-Recalibration done" -type ok -parent .
					.bottom.info configure -text "Gyro-Recalibration done"
					.bottom.info configure -background green
					update
				} elseif {[string match "* ddddd *" $buffer]} {
					.bottom.info configure -text "READY!"
					.bottom.info configure -background green
				} else {
				}
			}
			set buffer ""
		} else {
			append buffer $ch
		}
#	}
}

#####################################################################################
# Arduino-Flashloader
#####################################################################################

set defs(STK_OK)		"0x10"
set defs(STK_INSYNC)		"0x14"
set defs(STK_GET_SIGN_ON)	"0x30"
set defs(STK_LOAD_ADDRESS)	"0x55"
set defs(STK_READ_PAGE)		"0x74"
set defs(STK_WRITE_PAGE)	"0x64"
set defs(CRC_EOP)		"0x20"
set ArduinoTimeout 0

proc ArduinoSerial_Init {ComPort ComRate} {
	global ArduinoSerial
	catch {close $ArduinoSerial}
	set iChannel 0
	if {[catch {
		set iChannel [open $ComPort w+]
		fconfigure $iChannel -mode $ComRate,n,8,2 -translation binary -ttycontrol {RTS 1 DTR 0} -blocking FALSE
		.bottom.info configure -text "ArduinoSerial-OK: $ComPort @ $ComRate"
		update
	}]} {
		.bottom.info configure -text "ArduinoSerial-Error: $ComPort @ $ComRate"
		update
	}
	return $iChannel
}

proc ArduinoWait_reply {} {
	global ArduinoSerial
	global ArduinoTimeout
	global defs
	set num 0
	set num2 0
	set ch [read $ArduinoSerial 1]
	binary scan $ch c num
	set counter 0
	while {$num == 0 && $counter < 1000} {
		set ch [read $ArduinoSerial 1]
		binary scan $ch c num
		after 10
		incr counter
	}
	if {$counter >= 1000} {
		.bottom.info configure -text "#### timeout ####"
		update
		set ArduinoTimeout 1
		after 1000
		return
	}
	binary scan $ch c num
	set ch2 [read $ArduinoSerial 1]
	binary scan $ch2 c num2
	set counter 0
	while {$num2 == 0 && $counter < 1000} {
		set ch2 [read $ArduinoSerial 1]
		binary scan $ch2 c num2
		after 10
		incr counter
	}
	if {$counter >= 1000} {
		.bottom.info configure -text "#### timeout ####"
		update
		set ArduinoTimeout 1
		after 1000
		return
	}
	binary scan $ch2 c num2
	set ret "[format 0x%02x $num]"
	set ret2 "[format 0x%02x $num2]"
	if {$ret == $defs(STK_INSYNC) && $ret2 == $defs(STK_OK)} {
#		puts "	STK_INSYNC"
	} else {
		puts "Error: "
		puts "	< $ret"
		puts "	< $ret2"
		.bottom.info configure -text "Flash-Error"
		update
		after 1000
#		return
	}
}

proc ArduinoSerial_SendCMD {CMD} {
	global ArduinoSerial
	global defs
	puts -nonewline $ArduinoSerial "[binary format c $CMD]"
	flush $ArduinoSerial
	puts -nonewline $ArduinoSerial "[binary format c $defs(CRC_EOP)]"
	flush $ArduinoSerial
	ArduinoWait_reply
}

proc ArduinoReset {} {
	global ArduinoSerial
	fconfigure $ArduinoSerial -ttycontrol {RTS 0}
	flush $ArduinoSerial
	after 200
	fconfigure $ArduinoSerial -ttycontrol {RTS 1}
	flush $ArduinoSerial
	after 200
}

proc ArduinoSendWORD {WORD} {
	global ArduinoSerial
	global defs
	set WORD [expr $WORD / 2]
	set WORD_BYTE2 "0x[string range [format %04x $WORD] 2 3]"
	set WORD_BYTE1 "0x[string range [format %04x $WORD] 0 1]"
	puts -nonewline $ArduinoSerial "[binary format c $WORD_BYTE2]"
	flush $ArduinoSerial
	puts -nonewline $ArduinoSerial "[binary format c $WORD_BYTE1]"
	flush $ArduinoSerial
}

proc ArduinoSetAddr {ADDR} {
	global ArduinoSerial
	global defs
	puts -nonewline $ArduinoSerial "[binary format c $defs(STK_LOAD_ADDRESS)]"
	flush $ArduinoSerial
	ArduinoSendWORD "$ADDR"
	puts -nonewline $ArduinoSerial "[binary format c $defs(CRC_EOP)]"
	flush $ArduinoSerial
	ArduinoWait_reply
}

proc ArduinoSendData {START_ADDR file_data} {
	global ArduinoSerial
	global defs
	set BUFFER ""
	set COUNT 0
	if {$file_data != ""} {
		set MAX_ADDR [expr [llength $file_data]]
		foreach BYTE $file_data {
			lappend BUFFER "$BYTE"
			if {$COUNT == 127} {
				.bottom.info configure -text "write: [format 0x%02x $START_ADDR] ([expr [format 0x%x $START_ADDR] * 100 / [format 0x%x $MAX_ADDR]]%)"
				update
				ArduinoSetAddr "[format 0x%x $START_ADDR]"
				puts -nonewline $ArduinoSerial "[binary format c $defs(STK_WRITE_PAGE)]"
				flush $ArduinoSerial
				puts -nonewline $ArduinoSerial "[binary format c "0x0"]"
				flush $ArduinoSerial
				puts -nonewline $ArduinoSerial "[binary format c "0x80"]"
				flush $ArduinoSerial
				puts -nonewline $ArduinoSerial "F"
				flush $ArduinoSerial
				foreach SEND_BYTE $BUFFER {
					puts -nonewline $ArduinoSerial "[binary format c $SEND_BYTE]"
					flush $ArduinoSerial
				}
				puts -nonewline $ArduinoSerial "[binary format c $defs(CRC_EOP)]"
				flush $ArduinoSerial
				ArduinoWait_reply
				incr START_ADDR 128
				set BUFFER ""
				set COUNT 0
			} else {
				incr COUNT
			}
		}
		set NUM 0
		while {$NUM < [expr 128 - $COUNT]} {
			lappend BUFFER "0xFF"
			incr NUM
		}
		.bottom.info configure -text "write: [format 0x%02x $START_ADDR] ([expr [format 0x%x $START_ADDR] * 100 / [format 0x%x $MAX_ADDR]]%)"
		update
		ArduinoSetAddr "[format 0x%x $START_ADDR]"
		puts -nonewline $ArduinoSerial "[binary format c $defs(STK_WRITE_PAGE)]"
		flush $ArduinoSerial
		puts -nonewline $ArduinoSerial "[binary format c "0x0"]"
		flush $ArduinoSerial
		puts -nonewline $ArduinoSerial "[binary format c "0x80"]"
		flush $ArduinoSerial
		puts -nonewline $ArduinoSerial "F"
		flush $ArduinoSerial
		foreach SEND_BYTE $BUFFER {
			puts -nonewline $ArduinoSerial "[binary format c $SEND_BYTE]"
			flush $ArduinoSerial
		}
		puts -nonewline $ArduinoSerial "[binary format c $defs(CRC_EOP)]"
		flush $ArduinoSerial
		ArduinoWait_reply
		.bottom.info configure -text "write: done (100%)"
		update
	} else {
		.bottom.info configure -text "error no data found"
		update
		after 1000
	}
}

proc ArduinoConvertData {file_data} {
	global ArduinoSerial
	global defs
	set BUFFER ""
	if {$file_data != ""} {
		foreach BYTE [split $file_data ""] {
			binary scan $BYTE c num
			if {$num < 0} {
				set num [expr $num + 256]
			}
			lappend BUFFER "[format 0x%x $num]"
		}
		return $BUFFER
	} else {
		.bottom.info configure -text "error no data found"
		update
		after 1000
	}
}

proc ArduinoSendBIN {START_ADDR BINFILE} {
	global ArduinoSerial
	set binfile [open $BINFILE r]
	fconfigure $binfile -translation binary
	set file_data [read $binfile]
	close $binfile
	if {$file_data != ""} {
		ArduinoSendData $START_ADDR [ArduinoConvertData $file_data]
	} else {
		.bottom.info configure -text "error loading BIN-File"
		update
		after 1000
	}
}

proc ArduinoExportBIN {BINFILE} {
	set binfile [open $BINFILE r]
	fconfigure $binfile -translation binary
	set file_data [read $binfile]
	close $binfile
	if {$file_data != ""} {
		return "[ArduinoConvertData $file_data]"
	} else {
		.bottom.info configure -text "error loading BIN-File"
		update
		after 1000
	}
}

#####################################################################################
# GUI-Helper-Functions
#####################################################################################

set tline 0
proc show_textline {wid line} {
	global tline
	label $wid.tline_$tline -anchor nw -text "$line"
	pack $wid.tline_$tline -side top -expand yes -fill x
	incr tline
}

proc motorNumberPitch_check {n1 n2 op} {
	global par
	catch {
		if {$par(motorNumberPitch) == 1} {
			set par(motorNumberRoll) 2
		} else {
			set par(motorNumberRoll) 1
		}
	}
}
trace variable par(motorNumberPitch) w motorNumberPitch_check

proc motorNumberRoll_check {n1 n2 op} {
	global par
	catch {
		if {$par(motorNumberRoll) == 1} {
			set par(motorNumberPitch) 2
		} else {
			set par(motorNumberPitch) 1
		}
	}
}
trace variable par(motorNumberRoll) w motorNumberRoll_check

proc show_help {helptext} {
	tk_messageBox -icon info -message "$helptext" -type ok -parent .
}

proc gui_slider {wid variable min max step title tooltiptext helptext} {
	global par
	label $wid
	pack $wid -side top -expand yes -fill x
	setTooltip $wid "$tooltiptext"

		label $wid.label -text "$title" -width 14 -anchor w
		pack $wid.label -side left -expand no -fill x

		frame $wid.frame
		pack $wid.frame -side left -expand yes -fill x

			eval button $wid.frame.help -text \"?\" -width 1 -command \{show_help \"$helptext\"\}
			pack $wid.frame.help -side right -expand no -fill none

			spinbox $wid.frame.spin -from $min -to $max -increment $step -width 10 -textvariable par($variable) -width 4
			pack $wid.frame.spin -side right -expand yes -fill x

			scale $wid.frame.scale -orient horizontal -from $min -to $max -showvalue 0 -resolution $step -variable par($variable)
			pack $wid.frame.scale -side right -expand yes -fill x
}

proc gui_spin {wid variable min max step title tooltiptext helptext} {
	global par
	frame $wid
	pack $wid -side top -expand yes -fill x
	setTooltip $wid "$tooltiptext"

		label $wid.label -text "$title" -width 14 -anchor w
		pack $wid.label -side left -expand no -fill x

		frame $wid.frame
		pack $wid.frame -side left -expand yes -fill x

			eval button $wid.frame.help -text \"?\" -width 1 -command \{show_help \"$helptext\"\}
			pack $wid.frame.help -side right -expand no -fill none

			set diff [expr $max - $min]
			if {$diff <= 8} {
				set options ""
				set num $min
				while {$num <= $max}  {
					set options "$options $num"
					incr num
				}
				ttk::combobox $wid.frame.spin -textvariable par($variable) -state readonly -values $options
			} else {
				spinbox $wid.frame.spin -from $min -to $max -increment $step -width 10 -textvariable par($variable) -width 4
			}
			pack $wid.frame.spin -side right -expand yes -fill x
}

proc gui_check {wid variable title title2 tooltiptext helptext} {
	global par
	frame $wid
	pack $wid -side top -expand yes -fill x
	setTooltip $wid "$tooltiptext"

		label $wid.label -text "$title" -width 14 -anchor w
		pack $wid.label -side left -expand no -fill x

		frame $wid.frame
		pack $wid.frame -side left -expand yes -fill x

			checkbutton $wid.frame.check -text "$title2" -variable par($variable) -relief flat -anchor w
			pack $wid.frame.check -side left -expand yes -fill x

			eval button $wid.frame.help -text \"?\" -width 1 -command \{show_help \"$helptext\"\}
			pack $wid.frame.help -side left -expand no -fill none
}

proc gui_radio {wid variable options title tooltiptext helptext} {
	global par
	frame $wid
	pack $wid -side top -expand yes -fill x
	setTooltip $wid "$tooltiptext"

		label $wid.label -text "$title" -width 14 -anchor w
		pack $wid.label -side left -expand no -fill x

		frame $wid.frame
		pack $wid.frame -side left -expand yes -fill x

			foreach option $options  {
				set option_title [lindex $option 0]
				set option_value [lindex $option 1]
				radiobutton $wid.frame.check_$option -text "$option_title" -value $option_value -variable par($variable) -relief flat
				pack $wid.frame.check_$option -side left -expand yes -fill x
			}

			eval button $wid.frame.help -text \"?\" -width 1 -command \{show_help \"$helptext\"\}
			pack $wid.frame.help -side left -expand no -fill none
}

proc gui_button {wid title tooltiptext command} {
	eval button $wid -text \"$title\" -width 14 -command $command
	pack $wid -side left -expand yes -fill x
	setTooltip $wid "$tooltiptext"
}

proc disable_all {path} {
    catch {$path configure -state disabled}
    foreach child [winfo children $path] {
        disable_all $child
    }
}

proc enable_all {path} {
    catch {$path configure -state normal}
    foreach child [winfo children $path] {
        enable_all $child
    }
}

proc launchBrowser url {
	global tcl_platform
	switch $tcl_platform(os) {
		Darwin {
		  set command [list open $url]
		}
		HP-UX -
		Linux  -
		SunOS {
		  foreach executable {firefox mozilla netscape iexplorer opera lynx w3m links epiphany galeon konqueror mosaic amaya browsex elinks} {
		    set executable [auto_execok $executable]
		    if [string length $executable] {
		      set command [list $executable $url &]
		      set command [list $executable $url]
		      break
		    }
		  }
		}
		{Windows 95} -
		{Windows NT} {
		  set command "[auto_execok start] {} [list $url]"
		}
	}
	if [info exists command] {
		if [catch {exec {*}$command &} err] {
		  tk_messageBox -icon error -message "error '$err' with '$command'"
		}
	} else {
		tk_messageBox -icon error -message "Please tell CL that ($tcl_platform(os), $tcl_platform(platform)) is not yet ready for browsing."
	}
}

#####################################################################################
# the GUI
#####################################################################################

wm title . "Brushless-Gimbal-Tool (for v$VERSION)"


proc update_mpu {n1 n2 op} {
	global par
	.note.general.settings.sensor.img.canv delete "arrows"
	if {$par(axisSwapXY) == 1} {
		.note.general.settings.sensor.img.canv create line 18 38 60 15 -fill green -arrow last -tag arrows
		.note.general.settings.sensor.img.canv create line 18 38 50 75 -fill red -arrow last -tag arrows
		.note.general.settings.sensor.img.canv create text 55 75 -text "X" -fill red -tag arrows
		.note.general.settings.sensor.img.canv create text 65 15 -text "Y" -fill green -tag arrows
	} else {
		.note.general.settings.sensor.img.canv create line 18 38 60 15 -fill red -arrow last -tag arrows
		.note.general.settings.sensor.img.canv create line 18 38 50 75 -fill green -arrow last -tag arrows
		.note.general.settings.sensor.img.canv create text 65 15 -text "X" -fill red -tag arrows
		.note.general.settings.sensor.img.canv create text 55 75 -text "Y" -fill green -tag arrows
	}
	if {$par(axisReverseZ) == 1} {
		.note.general.settings.sensor.img.canv create line 18 38 18 100 -fill blue -arrow last -tag arrows
		.note.general.settings.sensor.img.canv create text 23 100 -text "Z" -fill blue -tag arrows
	} else {
		.note.general.settings.sensor.img.canv create line 18 38 18 5 -fill blue -arrow last -tag arrows
		.note.general.settings.sensor.img.canv create text 23 7 -text "Z" -fill blue -tag arrows
	}
}

trace variable par(axisReverseZ) w update_mpu
trace variable par(axisSwapXY) w update_mpu


ttk::notebook .note
pack .note -fill both -expand yes -fill both -padx 2 -pady 3

	ttk::frame .note.general
	.note add .note.general -text "Settings"

	label .note.general.image -relief flat -anchor center -image "logo"
	pack .note.general.image -side top -fill none -expand no

	labelframe .note.general.settings -text "General"
	pack .note.general.settings -side top -expand yes -fill both

		labelframe .note.general.settings.rc -text "RC"
		pack .note.general.settings.rc -side left -expand yes -fill both

			gui_check .note.general.settings.rc.rcModePPM  rcModePPM  "RC PPM/PWM" "PPM" "Mode of RC input, PPM sum oder single PWM RC inputs on A1/A2" "config.rcModePPM: PPM sum oder single PWM RC inputs on A1/A2: PPM sum input on A2 or single RC PWM inputs on A2=Ch0, A1=Ch1"
			gui_check .note.general.settings.rc.rcAbsolute rcAbsolute "RC Abs/Prop" "Absolute" "Absolute or Incremental RC control" "config.rcAbsolute: Absolute or Incremental RC control, Absolute: gimbal postion follows RC transmitters directly, Proportional: RC controls the gimbal speed, thus in RC stick in center position (1500us) gimbal stops moving, where as the gimbal starts moving if stick is moved"
			gui_slider .note.general.settings.rc.rcGain rcGain 0.0 200.0 0.1 "RC Gain" "RC gain" "config.rcGain: RC Gain in Proportional mode: specifies the gain of the RC channel, larger values increas the speed of the gimbal movement"
			gui_slider .note.general.settings.rc.rcLPF rcLPF 1 20 0.1 "RC Low Pass" "RC low pass filter" "config.rcLPF: RC low pass filter in Absolute mode: specifies speed of gimbal movement (sec)"
			gui_slider .note.general.settings.rc.rcMid rcMid 1000 2000 1 "RC middle" "RC middle position" "config.rcMid: RC middle position: specifies the PWM time of the RC center position in us (default=1500)"

		labelframe .note.general.settings.sensor -text "Sensor"
		pack .note.general.settings.sensor -side left -expand yes -fill both


			frame .note.general.settings.sensor.set
			pack .note.general.settings.sensor.set -side left -expand yes -fill both

				gui_check .note.general.settings.sensor.set.axisReverseZ axisReverseZ "Reverse Z-axis" "reversed" "config.axisReverseZ: Set Sensor Orientation: 0=sensor mounted with component side up, 1=sensor mounted upside down" "Set Sensor Orientation Z-Axis: 0=sensor mounted with component side up, 1=sensor mounted upside down"
				gui_check .note.general.settings.sensor.set.axisSwapXY axisSwapXY "Swap XY-axis" "swapped" "config.axisSwapXY: Set Sensor Orientation XY-Axis: 0=normal, 1=swap X/Y axis" "Set Sensor Orientation XY-Axis: 0=normal, 1=functions of X/Y axis are exchanged"
				gui_slider .note.general.settings.sensor.set.accTimeConstant accTimeConstant 1 20 1 "ACC Time Const"  "ACC Time Constant(sec)" "tconfig.accTimeConstant: time constant of ACC complementary filter.  Controls how fast the gimbal follows ACC (sec)"
				gui_slider .note.general.settings.sensor.set.mpuLPF mpuLPF 0 6 1 "MPU LPF" "low pass filter of gyro" "config.mpuLPF: low pass filter of gyro (DLPFMode)   legal values are 0...6, 0=fastest(default) 6=slowest   use slow values if high frequency oscillations occur (still experimental)"
				gui_check .note.general.settings.sensor.set.enableGyro enableGyro "Gyro Update" "enabled" "Gyro update" "config.enableGyro: enable gyro update: 0=do not use gyro for attitude calcualtion, just for test and adjustment purposes"
				gui_check .note.general.settings.sensor.set.enableACC enableACC "ACC Update" "enabled" "ACC update" "config.enableACC: enable ACC update: 0=do not use ACC for attitude calculation, just for test and adjustment purposes"


			frame .note.general.settings.sensor.img
			pack .note.general.settings.sensor.img -side left -expand no -fill none

				canvas .note.general.settings.sensor.img.canv -relief raised -width 120 -height 120
				pack .note.general.settings.sensor.img.canv -side left
				.note.general.settings.sensor.img.canv create image 0 0 -anchor nw -image sensor
				update_mpu 0 0 0



	labelframe .note.general.chart -text "Chart"
	pack .note.general.chart -side top -expand no -fill both

		canvas .note.general.chart.chart1 -relief raised -width 450 -height 100
		pack .note.general.chart.chart1 -side left
		.note.general.chart.chart1 create rec 1 1 450 100 -fill black
		.note.general.chart.chart1 create line 0 50 450 50 -fill white
		setTooltip .note.general.chart.chart1 "acc chart"

		frame .note.general.chart.fr1
		pack .note.general.chart.fr1 -side left -expand yes -fill both

			button .note.general.chart.fr1.button -text "Start" -width 5 -relief raised -command {
				draw_chart
			}
			pack .note.general.chart.fr1.button -side top -expand yes -fill both
			setTooltip .note.general.chart.fr1.button "start/stop chart drawing"

			frame .note.general.chart.fr1.scale
			pack .note.general.chart.fr1.scale -side top -expand no -fill x

				scale .note.general.chart.fr1.scale.slider -orient horizontal -from 0.1 -to 10.0 -showvalue 0 -resolution 0.1 -variable CHART_SCALE
				pack .note.general.chart.fr1.scale.slider -side left -expand yes -fill x
				setTooltip .note.general.chart.fr1.scale.slider "Y-Scale for the chart"

				button .note.general.chart.fr1.scale.help -text "?" -width 1 -command {
					show_help "Y-Scale for the chart"
				}
				pack .note.general.chart.fr1.scale.help -side right -expand no -fill none


	ttk::frame .note.pitch
	.note add .note.pitch -text "Pitch"

		labelframe .note.pitch.pid -text "PID" -padx 10 -pady 10
		pack .note.pitch.pid -side top -expand no -fill x

			gui_slider .note.pitch.pid.p gyroPitchKp 0 100 1 "P" "P-Value" "config.gyroPitchKp: P-Value"
			gui_slider .note.pitch.pid.i gyroPitchKi 0 100 1 "I" "I-Value" "config.gyroPitchKi: I-Value"
			gui_slider .note.pitch.pid.d gyroPitchKd 0 100 1 "D" "D-Value" "config.gyroPitchKd: D-Value"

		labelframe .note.pitch.hw -text "Motor" -padx 10 -pady 10
		pack .note.pitch.hw -side top -expand no -fill x

			gui_radio .note.pitch.hw.number motorNumberPitch "{Motor-1 1} {Motor-2 2}" "Port-Number"  "Output-Port-Number" "config.motorNumberPitch: if you find that the wrong motor is connected you can just change the 0 to the 1 and this will save unplugging your motors"
			gui_check .note.pitch.hw.dir   dirMotorPitch            "Direction"     "reverse" "Motor-Direction" "config.Direction: this is for reversing your motor if it is rotating in the wrong direction"
			gui_slider .note.pitch.hw.maxpwm maxPWMmotorPitch 0 100 1 "max PWM (%)" "maximum Motor-PWM" "config.maxPWMmotorPitch: control of motor power, minimize the MAX PWM setting as much as possible this will help to stop vibrations in the motor as well"

		labelframe .note.pitch.rc -text "RC" -padx 10 -pady 10
		pack .note.pitch.rc -side top -expand no -fill x

			gui_spin .note.pitch.rc.rcChannelPitch rcChannelPitch 1 16 1 "RC Channel"  "rcChannelPitch" "config.rcChannelPitch: RC channel assignment for RC pitch, legal values 1..16 in PPM mode, 1..2 in PWM mode"
			gui_slider .note.pitch.rc.rcmin  minRCPitch -120 120 1       "RC min"  "minimum RC Angle" "config.minRCPitch: the amount or rotation your motor will make on that axis"
			gui_slider .note.pitch.rc.rcmax  maxRCPitch -120 120 1       "RC max"  "maximum RC Angle" "config.maxRCPitch: the amount or rotation your motor will make on that axis"
			gui_slider .note.pitch.rc.aop angleOffsetPitch -120 120 0.1  "Angle Offset" "Angle Offset" "config.angleOffsetPitch: offset adjust for pitch zero position (deg)"



	ttk::frame .note.roll
	.note add .note.roll -text "Roll"

		labelframe .note.roll.pid -text "PID" -padx 10 -pady 10
		pack .note.roll.pid -side top -expand no -fill x

			gui_slider .note.roll.pid.p gyroRollKp 0 100 1 "P" "P-Value" "config.gyroRollKp: P-Value"
			gui_slider .note.roll.pid.i gyroRollKi 0 100 1 "I" "I-Value" "config.gyroRollKi: I-Value"
			gui_slider .note.roll.pid.d gyroRollKd 0 100 1 "D" "D-Value" "config.gyroRollKd: D-Value"

		labelframe .note.roll.hw -text "Motor" -padx 10 -pady 10
		pack .note.roll.hw -side top -expand no -fill x

			gui_radio .note.roll.hw.number motorNumberRoll "{Motor-1 1} {Motor-2 2}" "Port-Number"  "Output-Port-Number" "config.motorNumberRoll: if you find that the wrong motor is connected you can just change the 0 to the 1 and this will save unplugging your motors"
			gui_check .note.roll.hw.dir   dirMotorRoll            "Direction"     "reverse" "Motor-Direction" "config.dirMotorRoll: this is for reversing your motor if it is rotating in the wrong direction"
			gui_slider .note.roll.hw.maxpwm maxPWMmotorRoll 0 100 1 "max PWM (%)" "maximum Motor-PWM" "config.maxPWMmotorRoll: control of motor power, minimize the MAX PWM setting as much as possible this will help to stop vibrations in the motor as well"

		labelframe .note.roll.rc -text "RC" -padx 10 -pady 10
		pack .note.roll.rc -side top -expand no -fill x

			gui_spin .note.roll.rc.rcChannelRoll rcChannelRoll 1 16 1 "RC Channel"  "rcChannelRoll" "config.rcChannelRoll: RC channel assignment for RC roll, llegal values 1..16 in PPM mode, 1..2 in PWM mode"
			gui_slider .note.roll.rc.rcmin  minRCRoll -120 120 1      "RC Min"  "minimum Angle" "config.minRCRoll: the amount or rotation your motor will make on that axis"
			gui_slider .note.roll.rc.rcmax  maxRCRoll -120 120 1      "RC Max"  "maximum Angle" "config.maxRCRoll: the amount or rotation your motor will make on that axis"
			gui_slider .note.roll.rc.aop angleOffsetRoll -120 120 0.1 "Angle Offset" "angleOffsetRoll" "config.angleOffsetRoll: offset adjust for roll zero position (deg)"




labelframe .device -text "Connection"
pack .device -side top -expand no -fill x
setTooltip .device "serial port selection"

	label .device.label -text "Port" -width 5
	pack .device.label -side left -expand no -fill x

	if {[catch {ttk::combobox .device.spin -textvariable device -state readonly -values $comports}]} {
		spinbox .device.spin -values $comports -width 10  -textvariable device
	}
	pack .device.spin -side left -expand yes -fill x

	button .device.connect -text "Connect" -width 9 -command {
		connect_serial
	}
	pack .device.connect -side left -expand no -fill x

	button .device.close -text "Close" -width 9 -command {
		close_serial
	}
	pack .device.close -side left -expand no -fill x


frame .buttons
pack .buttons -side top -expand no -fill x

	gui_button .buttons.defaults "Defaults" "set defaults values" set_defaults
	gui_button .buttons.load "Load" "load values from board into gui" send_par
	gui_button .buttons.save "Save" "save values from gui into board" save_values
	gui_button .buttons.load_from_file "Load from File" "load values from file into board and gui" load_values_from_file


frame .buttons_ext
pack .buttons_ext -side top -expand no -fill x

	gui_button .buttons_ext.gyro_cal "Gyro-Cal" "gyro recalibration" gyro_cal
	gui_button .buttons_ext.load_from_flash "Load from Flash" "load values from flash into board and gui" load_from_flash
	gui_button .buttons_ext.save_to_flash "Save to Flash" "save values from board into flash" save_to_flash
	gui_button .buttons_ext.save2file "Save to File" "save values from gui into file" save_values2file


label .helptext -relief sunken -text "BLG-Tool"
pack .helptext -side top -expand no -fill x

frame .bottom
pack .bottom -side top -expand no -fill x

	label .bottom.version -relief sunken -width 30 -text "Version: $tcl_platform(os)/$tcl_platform(osVersion)"
	pack .bottom.version -side left -expand no -fill x
	setTooltip .bottom.version "board/system version"

	label .bottom.info -relief sunken -text "Not connected"
	pack .bottom.info -side left -expand yes -fill x
	setTooltip .bottom.info "status informations"


## Trace parameters to update on change
foreach var [array names par] {
	if {$var == "vers"} {
	} elseif {! [string match "*,*" $var]} {
		trace variable par($var) w send_parvar
	}
}


#####################################################################################
# check arguments
#####################################################################################

if {[lindex $argv 0] == "-b" || [lindex $argv 0] == "--help"} {
	if {[lindex $argv 1] == ""} {
		puts "[info script] -b firmware.bin"
		exit 0
	}
	set FILE [lindex $argv 1]

	if {[string match "*.hex" $FILE]} {
		exec objcopy -I ihex -O binary "$FILE" "$FILE.bin"
		set FILE "$FILE.bin"
	}

	set scriptfile [open "[info script]" r]
	set scriptdata [read $scriptfile]
	close $scriptfile

	set scriptfile [open "[info script].new" w]
	foreach line "[split $scriptdata "\n"]" {
		if {[string match "set HEXDATA *" $line]} {
			puts $scriptfile "set HEXDATA \"[ArduinoExportBIN $FILE]\""
		} else {
		        puts $scriptfile "$line"
		}
	}
	close $scriptfile
	exit 0
}


proc show_help_tuning {} {
	global docu1
	catch {destroy .help}
	toplevel .help
	wm title .help "Help: Tuning your Gimbal"
	frame .help.f -highlightthickness 1 -borderwidth 1 -relief sunken
	pack .help.f -expand yes -fill both
	text .help.f.t -yscrollcommand ".help.f.scroll set" -setgrid true -width 120 -height 50 -wrap word -highlightthickness 0 -borderwidth 0
	pack .help.f.t -side left -expand  yes -fill both
	scrollbar .help.f.scroll -command ".help.f.t yview"
	pack .help.f.scroll -side right -fill y
	.help.f.t tag configure header -font "times 24 bold" -justify center
	.help.f.t tag configure center -justify center -spacing1 10p -spacing2 2p -lmargin1 12m -lmargin2 6m -rmargin 10m
	.help.f.t tag configure text -spacing1 10p -spacing2 2p -lmargin1 12m -lmargin2 6m -rmargin 10m
	.help.f.t insert end "\n\n\n\n"
	.help.f.t insert end "Tuning your Gimbal\n" header
	.help.f.t insert end "when you have uploaded the software and connect to your board, the software will load the default\n" text
	.help.f.t insert end "settings.You will need to change these to suit your gimbal and motors\n" text
	.help.f.t insert end "\n      " text
#	.help.f.t image create end -image "docu1"
	.help.f.t insert end "\n" text
	.help.f.t insert end "Note: help text to be added ... \n" text
	.help.f.t insert end "\n\n\n" text

	button .help.exit -text "Exit" -width 14 -command {
		destroy .help
	}
	pack .help.exit -side bottom -expand no -fill x
}

proc show_help_about {} {
	global docu1
	catch {destroy .help}
	toplevel .help
	wm title .help "About"
	frame .help.f -highlightthickness 1 -borderwidth 1 -relief sunken
	pack .help.f -expand yes -fill both
	text .help.f.t -yscrollcommand ".help.f.scroll set" -setgrid true -width 80 -height 20 -wrap word -highlightthickness 0 -borderwidth 0
	pack .help.f.t -side left -expand  yes -fill both
	scrollbar .help.f.scroll -command ".help.f.t yview"
	pack .help.f.scroll -side right -fill y
	.help.f.t tag configure header -font "times 24 bold" -justify center
	.help.f.t tag configure center -justify center -spacing1 10p -spacing2 2p -lmargin1 12m -lmargin2 6m -rmargin 10m
	.help.f.t tag configure text -spacing1 10p -spacing2 2p -lmargin1 12m -lmargin2 6m -rmargin 10m
	.help.f.t insert end "\n" text
	.help.f.t insert end "Credits\n" center
	.help.f.t insert end "Manual: By Graham Miller\n" center
	.help.f.t insert end "Brushless Gimbal: By Ludwig Faerber\n" center
	.help.f.t insert end "GUI: By Oliver Dippel\n" center
	.help.f.t insert end "Software: By\n" center
	.help.f.t insert end "Christian Winkler , Ludwig Faerber and Alexander Rehfeld\n" center
	.help.f.t insert end "All rights reserved\n" center

	button .help.exit -text "Exit" -width 14 -command {
		destroy .help
	}
	pack .help.exit -side bottom -expand no -fill x
}







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